相关论文: Task-Oriented Human Grasp Synthesis via Context- a…

Generating realistic full-body motion interacting with objects is critical for applications in robotics, virtual reality, and human-computer interaction. While existing methods can generate full-body motion within 3D scenes, they often lack…

For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world, but reliably grasping objects remains a significant challenge. We focus on the problem of synthesizing grasps for multi-finger…

Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…

Bimanual dexterous grasping is a fundamental and promising area in robotics, yet its progress is constrained by the lack of comprehensive datasets and powerful generation models. In this work, we propose BiDexGrasp, consists of a…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

Grasping manipulation is a fundamental mode for human interaction with daily life objects. The synthesis of grasping motion is also greatly demanded in many applications such as animation and robotics. In objects grasping research field,…

Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…

We present a visuo-tactile data-collection system that generates temporally structured, contact-rich demonstrations for imitation learning. Conventional systems often decouple the operator from contact forces, which hinders the…

Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…

In the context of human-robot interaction and collaboration scenarios, robotic grasping still encounters numerous challenges. Traditional grasp detection methods generally analyze the entire scene to predict grasps, leading to redundancy…

We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…

Pose-guided person image synthesis aims to synthesize person images by transforming reference images into target poses. In this paper, we observe that the commonly used spatial transformation blocks have complementary advantages. We propose…

This study introduces a novel language-guided diffusion-based learning framework, DexTOG, aimed at advancing the field of task-oriented grasping (TOG) with dexterous hands. Unlike existing methods that mainly focus on 2-finger grippers,…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…